DE102015010566A1 - Method and control device for controlling a power steering device and an adaptive damping system of a motor vehicle - Google Patents

Abstract

The invention relates to a method of controlling a power steering apparatus and an adaptive damping system of a motor vehicle, the power steering apparatus providing a steering angle limited by steering stops, and the adaptive damping system providing a variable damping force and wherein the damping force of the adaptive damping system increases (3) and at the same time maximally possible Steering angle is increased (4) if a steering stop is reached.

Description

The invention relates to a method and control device for controlling a power steering device and an adaptive damping system of a motor vehicle, wherein the power steering device provides a limited by steering stops mechanical steering angle range and the adaptive damping system provides a variable damping force.

A multiplicity of driver assistance systems are increasingly being installed in motor vehicles, which are intended to assist a driver of the motor vehicle in various situations when driving the motor vehicle and to reduce the stress on the driver when driving the motor vehicle.

From the DE 10 2011 116 456 A1 a device for changing the maximum steering angle of at least one steerable vehicle wheel is known, which has an adjusting device, by which the maximum steering angle of the motor vehicle wheel is variable, and an actuating device controlling the electronic control device. In this case, coupled to the adjusting device and / or the control device sensor means are provided for detecting at least one of the maximum steering angle of the motor vehicle wheel influencing wheel-specific information. Furthermore, sensor means for detecting the current steering angle of the motor vehicle wheel or for detecting at least one correlated with the current steering angle of the motor vehicle parameters are provided.

Object of embodiments of the invention is to provide a method and a control device for controlling a power steering device and an adaptive damping system of a motor vehicle, with which the control of a maximum possible steering angle can be improved.

According to one embodiment of the invention, this object is achieved by a method for controlling a power steering system and an adaptive damping system of a motor vehicle, wherein the power steering device provides a limited by steering stops mechanical steering angle range and the adaptive damping system provides a variable damping force and wherein the damping force of the adaptive damping system increases and a maximum possible steering angle is increased, in particular increased at the same time, if a steering stop is reached.

Motor vehicles are equipped to improve the driving behavior and to increase traffic safety with selective or adaptive damping systems to change the damping properties of the damping system, for example, amplitude-dependent. Thus, the damping behavior can be adapted, for example, to various uneven surfaces also as a function of a current vehicle speed. The system generates amplitude-dependent damping forces, which means that the damping depends on the compression travel of the shock absorber. The damping systems are usually designed to minimize the damping forces when driving over uneven ground to ensure optimum damping. The setting of a damping force exerted on the motor vehicle by the damping system also influences a possible wheel path of a motor vehicle wheel, that is a possible change in a distance between a wheel suspension of the at least one steerable motor vehicle wheel and the vehicle body of the motor vehicle. Thus, by increasing the damping forces, an amount of possible change in a distance between a wheel suspension of the at least one steerable vehicle wheel and the vehicle body can generally be reduced, thereby reducing the likelihood and hence the risk of vehicle wheel drive attack on other vehicle parts, particularly during travel over a road surface increased roadway limitations can be reduced. In combination with a power steering device which provides limited by steering stops mechanical steering angle range, this proves to be advantageous for shunting, for example, as enabled more rack and thus a turning circle of the vehicle can be optimized even if a driver of the vehicle, for example, with fully taken tires travels over a lane boundary increased compared to a road surface. In this way, a necessary active steering back can be minimized by the power steering device, which could be perceived by the driver of the motor vehicle as irritating, or at least take place slower. This in turn results in a risk minimization and a comfort gain for the driver of the motor vehicle. Since the method is based on an interaction between a power steering apparatus and an adaptive damping system, and thus components and systems known and incorporated in common motor vehicles, this can be further realized without the need for costly and expensive conversions.

Increasing the damping force may include increasing the damping force such that a hard damping force characteristic results. In ordinary adaptive Damping systems, the damping forces can be electrically discretely or continuously changed within a hydraulic tuning of the damping system. In particular, the damping force characteristic can be changed at least between two settings, namely hard, that is to say very high, and soft, that is to say low, damping forces. Since the damping forces counteract a change in a distance between the suspension of the at least one steerable vehicle wheel and the vehicle body, changing a distance between the wheel suspension of the at least one steerable vehicle wheel and the vehicle body by very high damping forces, that is, a hard damping force characteristic, almost prevents is a Radwegänderung be minimized over time, and further reduces a risk of attack of the vehicle wheel on other vehicle parts, especially during driving over lane elevated roadway boundaries and released by the interaction with the power steering device more rack and pinion, and thus the turning circle of the motor vehicle be optimized.

In addition, the damping force and the maximum possible steering stop can be reduced again as soon as the steering stop is fallen below again. In particular, the damping force and the maximum possible steering angle can be reset to the previous settings as soon as the steering stop is fallen below again, for example, due to a manual steering back of the driver, and thus a regular, optimally adapted to the motor vehicle and / or driving situation control will continue as soon as there is no need for tropic optimization. As a result, the comfort for the driver of the motor vehicle can be further increased.

According to one embodiment, the method may further include an active steering back through the power steering device until the steering angle is again undershot. Since the increased damping forces the risk of attack of the vehicle wheel can be reduced to other vehicle parts, the active steering back from the oversteer can thereby compared with motor vehicles in which not increasing simultaneously with a maximum possible steering angle and a damping force of an adaptive damping system is increased a rack and pinion of the steering must be reduced mandatory to prevent approaching a vehicle wheel on the vehicle body, take place slower, so that this is no longer perceived by a driver of the motor vehicle as disturbing or irritating, whereby comfort for the driver of the vehicle can be further optimized.

In addition, the method may further comprise detecting at least one wheel-specific information influencing the maximum possible steering angle and changing the maximum possible steering angle based on the at least one wheel-specific information influencing the maximum possible steering angle. In this way, the maximum possible steering angle can be additionally adjusted on the basis of at least one of the maximum possible steering angle information influencing, for example, the dimensions of the motor vehicle wheel, that is, an additional variable rack and pinion control to be involved, resulting in a further improved risk minimization and in results in an additional comfort gain for the driver. Since such variable rack-and-pinion control systems are known and customary for ordinary motor vehicles, their function can be used here without the need for time-consuming and expensive conversions.

In this case, the at least one wheel-specific information influencing the maximum possible steering angle may comprise information about a width of a wheel of the motor vehicle and / or information about an attachment which changes the width of the wheel on the wheel. Thus, the maximum possible steering angle and thus the steering of the motor vehicle can be adapted to dimensions of a mounted tire and results in an optimized on the dimensions of the tire turning circle, wherein the width of the wheel changing attachments, such as snow chains, are taken into account.

A further embodiment of the invention further specifies a computer program that, when executed on an arithmetic unit of a motor vehicle, instructs the arithmetic unit to carry out a method as described above.

In addition, a computer-readable medium is specified, on which such a computer program is stored.

Such a computer program has the advantage that with this a method for controlling a power steering device and an adaptive damping system of a motor vehicle can be performed, with which the control of a maximum possible steering angle can be further optimized. Ordinary motor vehicles are equipped with selective or adaptive damping systems to improve the driving behavior and to increase traffic safety, to the damping properties of the damping system For example, to change amplitude-dependent. Thus, the damping behavior can be adapted, for example, to various uneven surfaces also as a function of a current vehicle speed. The system generates amplitude-dependent damping forces, which means that the damping depends on the compression travel of the shock absorber. The damping systems are usually designed to minimize the damping forces when driving over uneven ground to ensure optimum damping. The setting of a damping force exerted on the motor vehicle by the damping system also influences a possible wheel path of a motor vehicle wheel, that is a possible change in a distance between a wheel suspension of the at least one steerable motor vehicle wheel and the vehicle body of the motor vehicle. Thus, by increasing the damping forces, an amount of possible change in a distance between a wheel suspension of the at least one steerable vehicle wheel and the vehicle body can generally be reduced, thereby reducing the likelihood and hence the risk of vehicle wheel drive attack on other vehicle parts, particularly during travel over a road surface increased roadway limitations can be reduced. In combination with a power steering device which provides limited by steering stops mechanical steering angle range, this proves to be advantageous for shunting, for example, as enabled more rack and thus a turning circle of the vehicle can be optimized even if a driver of the vehicle, for example, with fully taken tires travels over a lane boundary increased compared to a road surface. In this way, a necessary active steering back can be minimized by the power steering device, which could be perceived by the driver of the motor vehicle as irritating, or at least take place slower. This in turn results in a risk minimization and a comfort gain for the driver of the motor vehicle. Since the method is based on an interaction between a power steering apparatus and an adaptive damping system, and thus components and systems known and incorporated in common motor vehicles, this can be further realized without the need for costly and expensive conversions.

A further embodiment of the invention also provides a control device for controlling a power steering device and an adaptive damping system of a motor vehicle, the power steering device providing a mechanical steering angle range limited by steering stops, and the adaptive damping system providing a variable damping force, and wherein the control device comprises sensor means for detecting a steering stop is achieved, a first damping system controlling the control unit which is adapted to increase the damping force of the adaptive damping system if a steering angle is reached, and a second, the power steering device controlling control unit which is designed to increase a maximum possible steering angle if the steering stop is reached has.

Such a control device has the advantage that with this a control device for controlling a power steering device and an adaptive damping system of a motor vehicle is specified, with which the control of a maximum possible steering angle can be further optimized. Conventional motor vehicles are equipped with selective or adaptive damping systems to improve the driving behavior and to increase traffic safety in order to change the damping properties of the damping system, for example, in an amplitude-dependent manner. Thus, the damping behavior can be adapted, for example, to various uneven surfaces also as a function of a current vehicle speed. The system generates amplitude-dependent damping forces, which means that the damping depends on the compression travel of the shock absorber. The damping systems are usually designed to minimize the damping forces when driving over uneven ground to ensure optimum damping. The setting of a damping force exerted on the motor vehicle by the damping system also influences a possible wheel path of a motor vehicle wheel, that is a possible change in a distance between a wheel suspension of the at least one steerable motor vehicle wheel and the vehicle body of the motor vehicle. Thus, by increasing the damping forces by means of the first control unit, an amount of a possible change in a distance between a wheel suspension of the at least one steerable vehicle wheel and the vehicle body can generally be reduced, thereby increasing the likelihood and hence the danger of the vehicle wheel sticking to other vehicle parts, in particular can be reduced during driving over elevated roadway boundaries with respect to a road surface. In combination with a power steering device, which provides a limited by steering stops mechanical steering angle range, this proves to be advantageous, for example, when Rangierfahrten as more rack and pinion path released thus a turning circle of the motor vehicle can be optimized, if a driver of the motor vehicle, for example, drives with fully wheeled tires over a lane boundary increased with respect to a road surface. In this way, a necessary active steering back can be minimized by the power steering device, which could be perceived by the driver of the motor vehicle as irritating, or at least take place slower. This in turn results in a risk minimization and a comfort gain for the driver of the motor vehicle. Since the control device is based on an interaction between a power steering device and an adaptive damping system and thus components and systems known and incorporated in common motor vehicles, they can be used without the need for expensive and costly modifications.

In this case, the first control unit activating the damping system can be designed to increase the damping force such that a hard damping force characteristic results. In conventional adaptive damping systems, the damping forces can be electrically discretely or continuously varied within a hydraulic tuning of the damping system. In particular, the damping force characteristic can be changed at least between two settings, namely hard, that is to say very high, and soft, that is to say low, damping forces. Since the damping forces counteract a change in a distance between the suspension of the at least one steerable vehicle wheel and the vehicle body, changing a distance between the wheel suspension of the at least one steerable vehicle wheel and the vehicle body by very high damping forces, that is, a hard damping force characteristic, almost prevents is a Radwegänderung be minimized over time, and further reduces a risk of attack of the vehicle wheel on other vehicle parts, especially during driving over lane elevated roadway boundaries and released by the interaction with the power steering device more rack and pinion, and thus the turning circle of the motor vehicle be optimized.

In addition, the first control unit can be designed to reduce the damping force again as soon as the steering angle is fallen below again, and the second control unit can be designed to reduce the maximum possible steering angle again as soon as the steering angle is again undershot. In particular, the first and the second control unit may be configured to reset the damping force and the maximum possible steering angle back to the previous settings as soon as the steering stop is fallen below again, for example, due to a manual steering back of the driver, creating a regular, optimal to the motor vehicle and / or the driving situation adapted control can be continued as soon as there is no need for a tropic optimization. As a result, the comfort for the driver of the motor vehicle can be further increased.

According to one embodiment, the power steering device can be designed to actively deflect back until the steering angle is again undershot. Since the increased damping forces the risk of attack of the vehicle wheel can be reduced to other vehicle parts, the active steering back from the oversteer can thereby compared with motor vehicles in which not increasing simultaneously with a maximum possible steering angle and a damping force of an adaptive damping system is increased a rack and pinion of the steering must be reduced mandatory to prevent approaching a vehicle wheel on the vehicle body, take place slower, so that this is no longer perceived by a driver of the motor vehicle as disturbing or irritating, whereby comfort for the driver of the vehicle can be further optimized.

Furthermore, the control device can furthermore have a second sensor means for detecting at least one wheel-specific information influencing the maximum possible steering angle and the second control unit can be designed to change the maximum possible steering angle on the basis of the at least one wheel-specific information influencing the maximum possible steering angle. In this way, the maximum possible steering angle can also be adjusted on the basis of at least one maximum possible steering angle influencing wheel-specific information, for example, on the dimensions of the motor vehicle wheel, that is an additional variable rack and pinion control to be involved, resulting in a further improved risk minimization and resulting in an additional comfort gain for the driver. Since such variable rack-and-pinion control systems are known and commonly used for ordinary motor vehicles, they can be used here without the complex and expensive conversions being required.

In this case, the at least one wheel-specific information influencing the maximum possible steering angle may comprise information about a width of a wheel of the motor vehicle and / or information about an attachment which changes the width of the wheel on the wheel. Thus, the maximum possible steering angle and thus the steering of the motor vehicle by the control device are also adapted to the dimensions of a mounted tire and results in an optimized on the dimensions of the tire turning circle, wherein the width of the wheel changing attachments, such as snow chains, are taken into account.

With a further embodiment of the invention, also a motor vehicle is specified, which has a control device described above.

Such a motor vehicle has the advantage that it has a control device for controlling a power steering device and an adaptive damping system of a motor vehicle, with which the control of a maximum possible steering angle can be further optimized. Conventional motor vehicles are equipped with selective or adaptive damping systems to improve the driving behavior and to increase traffic safety in order to change the damping properties of the damping system, for example, in an amplitude-dependent manner. Thus, the damping behavior can be adapted, for example, to various uneven surfaces also as a function of a current vehicle speed. The system generates amplitude-dependent damping forces, which means that the damping depends on the compression travel of the shock absorber. The damping systems are usually designed to minimize the damping forces when driving over uneven ground to ensure optimum damping. The setting of a damping force exerted on the motor vehicle by the damping system also influences a possible wheel path of a motor vehicle wheel, that is a possible change in a distance between a wheel suspension of the at least one steerable motor vehicle wheel and the vehicle body of the motor vehicle. Thus, by increasing the damping forces, an amount of possible change in a distance between a wheel suspension of the at least one steerable vehicle wheel and the vehicle body can generally be reduced, thereby reducing the likelihood and hence the risk of vehicle wheel drive attack on other vehicle parts, particularly during travel over a road surface increased roadway limitations can be reduced. In combination with a power steering device which provides limited by steering stops mechanical steering angle range, this proves to be advantageous for shunting, for example, as enabled more rack and thus a turning circle of the vehicle can be optimized even if a driver of the vehicle, for example, with fully taken tires travels over a lane boundary increased compared to a road surface. In this way, a necessary active steering back can be minimized by the power steering device, which could be perceived by the driver of the motor vehicle as irritating, or at least take place slower. This in turn results in a risk minimization and a comfort gain for the driver of the motor vehicle.

In summary, it should be noted that with the present invention, a method and a control device for controlling a power steering device and an adaptive damping system of a motor vehicle are specified, with which the control of a maximum possible steering angle can be further optimized.

Thus, by interaction of a power steering apparatus and an adaptive damping system, the power steering apparatus provides a steering angle limited steering angle range and the adaptive damping system provides a variable damping force and the damping force of the adaptive damping system increases and at the same time a maximum possible steering angle is increased if a steering stop is achieved , More rack and pinion path enabled and a turning circle of the motor vehicle are also optimized if a driver of the motor vehicle, for example, when Rangierfahrten with fully taken tires on a relation to a road surface increased road boundary.

In this way, a necessary active steering back can be minimized by the power steering device, which could be perceived by the driver of the motor vehicle as irritating, or at least take place slower.

The invention will now be explained in more detail with reference to the accompanying figures.

1 shows a flowchart of a method for controlling a power steering device and an adaptive damping system of a motor vehicle according to embodiments of the invention;

2 shows a schematic block diagram of a control device for controlling a Power steering device and an adaptive damping system of a motor vehicle according to embodiments of the invention.

1 shows a flowchart of a method 1 for controlling a power steering apparatus and an adaptive damping system of a motor vehicle according to embodiments of the invention, wherein the power steering apparatus provides a steering angle limited by steering stops and the adaptive damping system provides a variable damping force.

As 1 shows, the method has the following steps: So first in one step 2 detects that a driver of a motor vehicle is steering in the direction of a steering stop, whereupon in one step 3 increases the damping force of the adaptive damping system and in one step 4 a maximum possible steering angle is increased. This enlargement occurs simultaneously, but it can also be done with a certain time lag

Since adjusting a damping force exerted on the motor vehicle by the damping system also influences a possible wheel path of a motor vehicle wheel or its envelope, that is, a possible change in a distance between a wheel suspension of the at least one steerable motor vehicle wheel and the vehicle body or wheel housing, can by the Increasing the damping forces an amount of a possible change in a distance between a suspension of the at least one steerable vehicle wheel and the vehicle body are generally reduced, thereby increasing the likelihood and thus the risk of attack of the vehicle wheel on other vehicle parts, especially during driving over against a road surface Lane boundaries can be reduced. In combination with a power steering device which provides limited by steering stops mechanical steering angle range, this proves to be advantageous for shunting, for example, as enabled more rack and thus a turning circle of the vehicle can be optimized even if a driver of the vehicle, for example, with fully taken tires travels over a lane boundary increased compared to a road surface. In this way, a necessary active steering back can be minimized by the power steering device, which could be perceived as irritating to the driver of the motor vehicle, or this at least slower.

According to the embodiments of the 1 includes the step 3 thereby increasing the damping force thereby increasing the damping force so as to give a hard damping force characteristic.

In addition, the procedure points 1 according to the embodiments of 1 one step 5 a back steering of a driver of the motor vehicle until the steering stop is fallen below again and one step 6 on, in which the damping force and the maximum possible steering stop are reduced again as soon as the steering stop is fallen below again. In particular, the damping force and the maximum possible steering angle in the step 6 reset to the previous settings as soon as the steering stop is fallen below again, whereby a regular, optimally adapted to the motor vehicle and / or the driving situation control can be continued as soon as there is no need for a tropic optimization.

2 shows a schematic block diagram of a control device 10 for controlling a power steering device 11 and an adaptive damping system 12 of a motor vehicle according to embodiments of the invention, wherein the power steering device 11 provides a limited by steering stops mechanical steering angle range and the adaptive damping system 12 provides a variable damping force.

As 2 shows, the controller has 10 while a sensor means 13 for detecting whether a steering stop is reached, a first, the damping system 12 controlling control unit 14 which is formed, the damping force of the adaptive damping system 12 to increase if a steering angle is reached, and a second, the power steering device 11 controlling control unit 15 which is designed to increase a maximum possible steering angle if the steering stop is reached on.

According to the embodiments of the 2 is the first, the damping system 12 controlling control unit 14 configured to increase the damping force such that a hard damping force characteristic results.

According to the embodiments of the 2 is the power steering device 11 Moreover, it is designed to actively deflect back until the steering angle is again undershot, and is thus configured to actively deflect back out of the oversteer range, which, compared with motor vehicles which do not simultaneously increase the maximum possible steering angle, also increases a damping force of an adaptive damping system and thus a toothed rack path Steering must be reduced mandatory to prevent approaching a vehicle wheel on the vehicle body, can be done slower, so that this is no longer perceived by a driver of the motor vehicle as disturbing or irritating, whereby comfort for the driver of the motor vehicle can be further optimized.

Here is the first control unit 14 further configured to reduce the damping force again as soon as the steering angle is fallen below again, and the second control unit 15 furthermore designed to reduce the maximum possible steering angle again as soon as the steering angle is fallen below again.

As 2 shows, the controller has 10 also a second sensor means 16 for detecting at least one wheel-specific information influencing the maximum possible steering angle, wherein the second control unit 15 is designed to change the maximum possible steering angle also on the basis of at least one of the maximum possible steering angle influencing wheel-specific information.

According to the embodiments of the 2 if the at least one wheel-specific information influencing the maximum possible steering angle is information about a width of a wheel of the motor vehicle as well as information about an attachment which changes the width of the wheel on the wheel.

Although at least one exemplary embodiment has been shown in the foregoing description, various changes and modifications may be made. The above embodiments are merely examples and are not intended to limit the scope, applicability, or configuration in any way. Rather, the foregoing description provides those skilled in the art with a scheme for practicing at least one example embodiment, which may make numerous changes in the function and arrangement of elements described in an exemplary embodiment without departing from the scope of the appended claims and their legal equivalents ,

LIST OF REFERENCE NUMBERS

1

method

2

step

3

step

4

step

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step

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step

10

control device

11

Power steering device

12

adaptive damping system

13

sensor means

14

first control unit

15

second control unit

16

second sensor means

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102011116456 A1 [0003]

Claims (15)

A method of controlling a power steering apparatus and an adaptive damping system of a motor vehicle, wherein the power steering apparatus provides a steering angle limited steering angle range and the adaptive damping system provides a variable damping force and wherein the damping force of the adaptive damping system increases ( 3 ) and in maximum possible steering angle is increased ( 4 ) if a steering stop is reached. The method of claim 1, wherein increasing the damping force ( 3 ) Increase the damping force such that a hard damping force characteristic results. Method according to claim 1 or 2, wherein the damping force and the maximum possible steering stop are reduced again ( 6 ), as soon as the steering stop is fallen below again. The method of claim 3, wherein the method ( 1 ) An active backward steering by the power steering device until the steering angle is fallen below again. Method according to one of claims 1 to 4, wherein the method ( 1 ) further comprises detecting at least one wheel-specific information influencing the maximum possible steering angle and changing the maximum possible steering angle on the basis of the at least one wheel-specific information influencing the maximum possible steering angle. Method according to claim 5, wherein the at least one wheel-specific information influencing the maximum possible steering angle comprises information about a width of a wheel of the motor vehicle and / or information about an attachment which changes the width of the wheel on the wheel. Computer program that when it is executed on a computing unit of a motor vehicle, the computing unit instructs a method ( 1 ) according to one of claims 1 to 6. Computer-readable medium on which a computer program according to claim 7 is stored. Control device for controlling a power steering device ( 11 ) and an adaptive damping system ( 12 ) of a motor vehicle, wherein the power steering device ( 11 ) provides a limited by steering stops mechanical steering angle range and the adaptive damping system ( 12 ) provides a variable damping force, and wherein the control device ( 10 ) a sensor means ( 13 ) for detecting whether a steering stop is reached, a first, the damping system ( 12 ) controlling control unit ( 14 ) which is formed, the damping force of the adaptive damping system ( 12 ) to increase if a steering angle is reached, and a second, the power steering device ( 11 ) controlling control unit ( 15 ) which is designed to increase a maximum possible steering angle if the steering stop is reached has. Control device according to claim 9, wherein the first, the damping system ( 12 ) controlling control unit ( 11 ) is adapted to increase the damping force such that results in a hard damping force characteristic. Control device according to claim 9 or 10, wherein the first control unit ( 14 ) is designed to reduce the damping force again as soon as the steering angle is fallen below again, and wherein the second control unit ( 15 ) is designed to reduce the maximum possible steering angle again as soon as the steering angle is fallen below again. Control device according to claim 11, wherein the power steering device ( 11 ) is designed to actively deflect back until the steering angle is fallen below again. Control device according to one of Claims 9 to 12, the control device ( 10 ) a second sensor means ( 16 ) for detecting at least one of the maximum possible steering angle influencing wheel-specific information and wherein the second control unit ( 15 ) is adapted to change the maximum possible steering angle based on the at least one information influencing the maximum possible steering angle information. Control device according to claim 13, comprising at least one wheel-specific information influencing the maximum possible steering angle, information about a width of a wheel of the motor vehicle and / or information about an attachment which changes the width of the wheel on the wheel. Motor vehicle, which has a control device ( 10 ) according to one of claims 9 to 14.

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